examples(teleop): package under isaacteleop_examples

docs/source/device/trackers.rst

@@ -233,8 +233,8 @@ axis inputs. Uses standard OpenXR action bindings.
 - Examples:
 
   - :code-file:`examples/retargeting/python/isaacteleop_examples/retargeting/sources_example.py`
-  - :code-file:`examples/teleop/python/locomotion_retargeting_example.py`
-  - :code-file:`examples/teleop/python/gripper_retargeting_example_simple.py`
+  - :code-file:`examples/teleop/python/isaacteleop_examples/teleop/locomotion_retargeting_example.py`
+  - :code-file:`examples/teleop/python/isaacteleop_examples/teleop/gripper_retargeting_example_simple.py`
 
 FullBodyTracker
 ~~~~~~~~~~~~~~~
@@ -312,7 +312,7 @@ utility internally.
 - Examples:
 
   - :code-file:`examples/schemaio/pedal_printer.cpp`
-  - :code-file:`examples/teleop/python/foot_pedal_locomotion_example.py`
+  - :code-file:`examples/teleop/python/isaacteleop_examples/teleop/foot_pedal_locomotion_example.py`
 
 .. note::
 
@@ -383,5 +383,5 @@ For end-to-end usage patterns combining trackers with a ``DeviceIOSession``, see
 For higher-level usage with the teleop session manager and retargeting, see:
 
 - :code-file:`examples/retargeting/python/isaacteleop_examples/retargeting/sources_example.py`
-- :code-file:`examples/teleop/python/gripper_retargeting_example_simple.py`
-- :code-file:`examples/teleop/python/locomotion_retargeting_example.py`
+- :code-file:`examples/teleop/python/isaacteleop_examples/teleop/gripper_retargeting_example_simple.py`
+- :code-file:`examples/teleop/python/isaacteleop_examples/teleop/locomotion_retargeting_example.py`

docs/source/getting_started/quick_start.rst

@@ -130,7 +130,7 @@ env file and start the service with it:
    python -m isaacteleop.cloudxr.service start --cloudxr-env-config ./custom.env
 
 The same ``--cloudxr-env-config`` flag is available on the teleop examples under
-``examples/teleop/python/``, which register CloudXR's launcher arguments through
+``examples/teleop``, which register CloudXR's launcher arguments through
 ``CloudXRLauncher.add_launcher_arguments()`` — but it applies only when the
 example is the one starting the runtime. With a service already running the
 example attaches to it instead, and prints which settings it had to ignore (see
@@ -339,7 +339,7 @@ pipeline: reading XR controller input via CloudXR, retargeting it through the
 
 .. code-block:: bash
 
-   python examples/teleop/python/gripper_retargeting_example_simple.py
+   python -m isaacteleop_examples.teleop.gripper_retargeting_example_simple
 
 Once running, squeeze the controller triggers on your XR headset to control
 the gripper. You should see periodic status output:
@@ -356,7 +356,7 @@ the gripper. You should see periodic status output:
    ...
 
 The example runs for 20 seconds and then exits. To try other examples, see
-``examples/teleop/python/`` — for instance:
+``examples/teleop`` — for instance:
 
 - ``se3_retargeting_example.py`` — maps hand or controller poses to
   end-effector poses (absolute or relative)

docs/source/getting_started/teleop_session.rst

@@ -444,7 +444,7 @@ Examples
 Complete Examples
 ^^^^^^^^^^^^^^^^^
 
-#. **Simplified Gripper Example**: ``examples/teleop/python/gripper_retargeting_example_simple.py``
+#. **Simplified Gripper Example**: ``examples/teleop/python/isaacteleop_examples/teleop/gripper_retargeting_example_simple.py``
    -- Shows the minimal configuration approach and demonstrates auto-creation
    of input sources.
 

docs/source/references/cloudxr.rst

@@ -181,13 +181,13 @@ launcher — do this for themselves and need no sourcing.
 Run teleop examples against the service
 ---------------------------------------
 
-Nothing to pass. The examples under ``examples/teleop/python/`` attach to
+Nothing to pass. The examples under ``examples/teleop`` attach to
 whatever runtime is serving, so with a service running they use it:
 
 .. code-block:: bash
 
    python -m isaacteleop.cloudxr.service start --accept-eula
-   python examples/teleop/python/gripper_retargeting_example_simple.py
+   python -m isaacteleop_examples.teleop.gripper_retargeting_example_simple
 
 The example leaves the service running when it exits, so the headset stays
 connected and the next run reattaches to the same session.

docs/source/references/retargeting/index.rst

@@ -243,7 +243,7 @@ Available Retargeters
       For a complete hand retargeting example (e.g. ``HandsSource`` + ``DexHandRetargeter`` or
       ``TriHandMotionControllerRetargeter``, connect and compute), see
       ``g1_trihand_retargeting_example.py`` and ``dex_bimanual_example.py`` in the
-      :code-dir:`examples/teleop/python` directory.
+      :code-dir:`examples/teleop` directory.
 
 .. dropdown:: LocomotionRootCmdRetargeter
 

docs/source/references/retargeting/joint_space.rst

@@ -102,13 +102,15 @@ and flatten ``ee_pose`` + ``gripper_command`` into the env's task-space action l
 Run the example
 ---------------
 
-The repo ships ``examples/teleop/python/joint_space_device_example.py``:
+The repo ships ``examples/teleop``:
 
 .. code-block:: console
 
+   $ uv pip install -e ./examples/teleop
+
    # Consumes the so101_leader plugin over OpenXR (source cloudxr.env first):
-   $ python joint_space_device_example.py --launch-plugin --mode joint --frames 8
-   $ python joint_space_device_example.py --launch-plugin --mode ee --urdf so101_new_calib.urdf
+   $ python -m isaacteleop_examples.teleop.joint_space_device_example --launch-plugin --mode joint --frames 8
+   $ python -m isaacteleop_examples.teleop.joint_space_device_example --launch-plugin --mode ee --urdf so101_new_calib.urdf
 
 Validate
 --------

examples/teleop/CMakeLists.txt

@@ -1,8 +1,8 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20)
 project(teleop_examples)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
-install_python_example(DESTINATION examples/teleop/python)
+install_python_example(DESTINATION examples/teleop)

examples/teleop/pyproject.toml

@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+# The dist name mirrors the import path, so an installed example claims no bare
+# top-level name in site-packages.
+name = "isaacteleop-examples-teleop"
+version = "0.1.0"
+description = "Isaac Teleop Retargeting Examples"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaacteleop[retargeters]",
+]
+
+# `isaacteleop_examples` is a PEP 420 namespace shared by every example dist and
+# must stay without an __init__.py. `only-include` + `sources`, not `packages`:
+# the latter keeps only the last path component and would root the wheel at a
+# bare top-level `teleop/`.
+#
+# config/ lives inside the package: dex_bimanual_example and
+# full_bimanual_reordering_example resolve it from __file__.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaacteleop_examples/teleop"]
+sources = ["python"]

examples/teleop/python/isaacteleop_examples/teleop/__init__.py

@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0

examples/teleop/python/dex_bimanual_example.py → examples/teleop/python/isaacteleop_examples/teleop/dex_bimanual_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

examples/teleop/python/foot_pedal_locomotion_example.py → examples/teleop/python/isaacteleop_examples/teleop/foot_pedal_locomotion_example.py

@@ -28,7 +28,9 @@
 )
 
 
-PLUGIN_ROOT_DIR = Path(__file__).resolve().parent.parent.parent.parent / "plugins"
+# Six levels up is the tree root -- the checkout, or the install prefix
+# when running from install/examples/teleop/.
+PLUGIN_ROOT_DIR = Path(__file__).resolve().parents[5] / "plugins"
 PLUGIN_NAME = "controller_synthetic_hands"
 PLUGIN_ROOT_ID = "synthetic_hands"
 

examples/teleop/python/full_bimanual_reordering_example.py → examples/teleop/python/isaacteleop_examples/teleop/full_bimanual_reordering_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

examples/teleop/python/g1_trihand_retargeting_example.py → examples/teleop/python/isaacteleop_examples/teleop/g1_trihand_retargeting_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -26,7 +26,9 @@
 from isaacteleop.retargeting_engine.interface import OutputCombiner
 
 
-PLUGIN_ROOT_DIR = Path(__file__).resolve().parent.parent.parent.parent / "plugins"
+# Six levels up is the tree root -- the checkout, or the install prefix
+# when running from install/examples/teleop/.
+PLUGIN_ROOT_DIR = Path(__file__).resolve().parents[5] / "plugins"
 PLUGIN_NAME = "controller_synthetic_hands"
 PLUGIN_ROOT_ID = "synthetic_hands"
 

examples/teleop/python/gripper_retargeting_example.py → examples/teleop/python/isaacteleop_examples/teleop/gripper_retargeting_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -36,7 +36,9 @@
 )
 
 
-PLUGIN_ROOT_DIR = Path(__file__).resolve().parent.parent.parent.parent / "plugins"
+# Six levels up is the tree root -- the checkout, or the install prefix
+# when running from install/examples/teleop/.
+PLUGIN_ROOT_DIR = Path(__file__).resolve().parents[5] / "plugins"
 PLUGIN_NAME = "controller_synthetic_hands"
 PLUGIN_ROOT_ID = "synthetic_hands"
 

examples/teleop/python/gripper_retargeting_example_simple.py → examples/teleop/python/isaacteleop_examples/teleop/gripper_retargeting_example_simple.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -27,7 +27,9 @@
 )
 
 
-PLUGIN_ROOT_DIR = Path(__file__).resolve().parent.parent.parent.parent / "plugins"
+# Six levels up is the tree root -- the checkout, or the install prefix
+# when running from install/examples/teleop/.
+PLUGIN_ROOT_DIR = Path(__file__).resolve().parents[5] / "plugins"
 PLUGIN_NAME = "controller_synthetic_hands"
 PLUGIN_ROOT_ID = "synthetic_hands"
 

examples/teleop/python/isaac_lab_gripper_example.py → examples/teleop/python/isaacteleop_examples/teleop/isaac_lab_gripper_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

examples/teleop/python/joint_space_device_example.py → examples/teleop/python/isaacteleop_examples/teleop/joint_space_device_example.py

@@ -60,7 +60,8 @@
 _COLLECTION_ID = "so101_leader"
 _POSE_LABELS = ["pos_x", "pos_y", "pos_z", "quat_x", "quat_y", "quat_z", "quat_w"]
 _DEFAULT_PLUGIN_BIN = (
-    Path(__file__).resolve().parents[3]
+    # Six levels up is the repo root; see PLUGIN_ROOT_DIR in the sibling examples.
+    Path(__file__).resolve().parents[5]
     / "build/src/plugins/so101_leader/so101_leader_plugin"
 )
 

examples/teleop/python/locomotion_retargeting_example.py → examples/teleop/python/isaacteleop_examples/teleop/locomotion_retargeting_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -27,7 +27,9 @@
 )
 
 
-PLUGIN_ROOT_DIR = Path(__file__).resolve().parent.parent.parent.parent / "plugins"
+# Six levels up is the tree root -- the checkout, or the install prefix
+# when running from install/examples/teleop/.
+PLUGIN_ROOT_DIR = Path(__file__).resolve().parents[5] / "plugins"
 PLUGIN_NAME = "controller_synthetic_hands"
 PLUGIN_ROOT_ID = "synthetic_hands"
 

examples/teleop/python/se3_retargeting_example.py → examples/teleop/python/isaacteleop_examples/teleop/se3_retargeting_example.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

src/plugins/so101_leader/README.md

@@ -121,7 +121,7 @@ absorb calibration; for **EE (URDF FK)** mode the joint angles must already matc
 
 The consumer side creates a `JointStateTracker("so101_leader")` (via
 `JointStateSource(name=..., collection_id="so101_leader", joint_names=[...])`) on the same
-`collection_id`. See `examples/teleop/python/joint_space_device_example.py` for the retargeting
+`collection_id`. See `examples/teleop/python/isaacteleop_examples/teleop/joint_space_device_example.py` for the retargeting
 pipeline (joint-mirror and task-space EE modes).
 
 DOF order / names: `shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper`.

src/python/isaacteleop/retargeters/joint_space/joint_state_retargeter.py

@@ -18,7 +18,7 @@
 
 The output element names are chosen so a downstream
 :class:`~isaacteleop.retargeters.TensorReorderer` can flatten them into the exact action layout
-an Isaac Lab environment expects. See ``examples/teleop/python/joint_space_device_example.py``
+an Isaac Lab environment expects. See ``examples/teleop/python/isaacteleop_examples/teleop/joint_space_device_example.py``
 for an end-to-end reference.
 """